CN111169555B

CN111169555B - Movable robot with gear rack structure and bounced function

Info

Publication number: CN111169555B
Application number: CN202010009210.2A
Authority: CN
Inventors: 王慷; 蒋朝阳
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2020-01-06
Filing date: 2020-01-06
Publication date: 2021-05-11
Anticipated expiration: 2040-01-06
Also published as: CN111169555A

Abstract

The invention discloses a bouncing mobile robot with a gear and rack structure, wherein the bouncing mobile robot with the gear and rack structure comprises a vehicle body and at least one vehicle leg; the vehicle legs are provided with racks along the direction, the vehicle body is provided with a gear meshed with the racks, and the gear is provided with a first driving device for driving the gear to rotate; the car leg disposes the worm wheel, the worm wheel disposes its pivoted worm of drive, the automobile body disposes the drive worm pivoted second drive arrangement, car leg both sides all are equipped with the track, are equipped with rather than complex gyro wheel on the track, the gyro wheel passes through the mounting bracket to be fixed on the worm wheel. The invention combines the advantages of the wheeled robot and the jumping robot, so that the application range of the mobile robot is wider, and the mobile robot can be applied in more occasions.

Description

Movable robot with gear rack structure and bounced function

Technical Field

The invention relates to the technical field of bouncing mobile robots, in particular to a bouncing mobile robot with a gear and rack structure.

Background

Chinese patent No. CN208760758U discloses a bouncing mobile robot, which comprises a frame and four wheels. The pneumatic bouncing mechanism is obliquely arranged on the frame, the extending section of the pneumatic bouncing mechanism can penetrate through the frame to interact with the ground, and the extending section rapidly extends out to contact with the ground to drive the trolley to bounce upwards. For the design, the bouncing mode of the bouncing device drives the trolley to move upwards by rapidly extending the extension section, but the contact area between the extension section and the ground is very small, if the ground is soft, the extension section can sink into the ground and cannot drive the trolley to move upwards. The extending section is in single-point contact with the ground, and the posture of the trolley cannot be adjusted in the process of driving the trolley to move upwards, so that the trolley body of the trolley stably rises, and the trolley rolls and the like.

Chinese patent publication No. CN107600217A discloses a bouncing robot leg, which uses a six-link and a spring as a bouncing mechanism, and uses the energy release of the spring to bounce the vehicle body upwards, and a walking wheel and a steering motor are installed below a bottom rod. The bounce is realized by releasing the energy of the spring, and the rising speed of the vehicle body and the posture of the vehicle body cannot be controlled, so that the stability of the vehicle body in the rising process cannot be ensured, and the condition that the vehicle body rolls can be caused. According to the bounce model, in the design scheme, the ratio of the weight of the wheels and the steering mechanism to the weight of the whole vehicle is large, and the rising height of the trolley is limited.

The mobile robot crosses vertical obstacles of smaller height by increasing the leg length. Through jumping, the mobile robot can cross obstacles, walls and trenches. In a road where the mobile robot runs, more vertical obstacles and trenches exist, so that the requirements for the threshold-crossing performance are high for the slope crossing, and the limit is large and has a certain limit mainly through the deformation of the mobile robot at present.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a bouncing mobile robot with a gear rack structure, wherein wheels are combined with vehicle legs, the vehicle legs can realize bouncing and improve trafficability, and the wheels can enable the mobile robot to quickly run on a flat road.

The purpose of the invention is realized by the following technical scheme:

a bouncing mobile robot with a gear rack structure comprises a vehicle body and at least one vehicle leg; the vehicle legs are provided with racks along the length direction of the vehicle legs, the vehicle body is provided with a gear meshed with the racks, and the gear is provided with a first driving device for driving the gear to rotate; the car leg disposes the worm wheel, the worm wheel disposes its pivoted worm of drive, the automobile body disposes the drive worm pivoted second drive arrangement, car leg both sides all are equipped with the track, are equipped with rather than complex gyro wheel on the track, the gyro wheel passes through the mounting bracket to be fixed on the turbine.

Further, the bouncer mobile robot with the gear rack structure further comprises at least one wheel, wherein the wheel is rotatably connected with the vehicle legs, and the wheel is provided with a fourth driving device for driving the wheel to rotate.

Further, the gear rack structure bounced mobile robot further comprises a momentum wheel, the momentum wheel is provided with a third driving device for driving the momentum wheel to rotate, and the third driving device is installed on the vehicle body.

Further, the momentum wheel is arranged in the vehicle body.

Further, the bounced mobile robot of rack and pinion structure still includes super capacitor, super capacitor is connected with first motor.

Further, the first driving device, the second driving device, the third driving device and the fourth driving device are respectively a first motor, a second motor, a third motor and a fourth motor.

Furthermore, the number of the vehicle legs is four, two of the vehicle legs are arranged on one side of the vehicle body, and the other two vehicle legs are arranged on the other side of the vehicle body.

Further, the number of the wheels is four, and the wheels are respectively rotatably connected with the corresponding vehicle legs.

Further, the first motor is arranged on the vehicle body and is connected with the gear; and the upper ends of the vehicle legs are provided with stop blocks for limiting the vehicle body to be separated from the vehicle legs.

Further, the worm is rotatable to be set up on the automobile body, the second motor is fixed on the automobile body, the track of car leg each side all is configured with two the gyro wheel, four the gyro wheel is fixed on the mounting bracket.

The invention has the beneficial effects that:

1. for jumping of the mobile robot, the invention innovatively provides a rack and pinion structure, the vehicle body is provided with the idler wheels, the vehicle legs are provided with the slide rails, and the vehicle body is driven to move up and down relative to the vehicle legs through the rack and pinion, so that upward movement of the vehicle body is realized.

2. The automobile body passes through the worm gear with being connected of car leg, can rotate through the drive worm, and the worm drives the worm wheel and rotates, and the worm wheel drives the gyro wheel angular position that is located car leg both sides and changes to change the gliding angle of car leg and automobile body, thereby realize that mobile robot no matter under motion state or static state, can both realize forward jump.

3. The invention combines the advantages of the wheeled robot and the jumping robot, greatly improves the passing performance of the mobile robot, has wider application range of the mobile robot, and has the capability of crossing small-size vertical obstacles and jumping through large-size vertical obstacles or gullies.

Drawings

FIG. 1 is a schematic structural diagram of a bounced mobile robot with a rack-and-pinion structure according to the present invention;

FIG. 2 is a top view of a bouncing mobile robot with a rack-and-pinion structure according to the present invention;

FIG. 3 is a front view of a hopping mobile robot with a rack and pinion structure according to the present invention;

FIG. 4 is a schematic diagram of the combination of wheels and legs of a bouncing mobile robot with a rack-and-pinion structure according to the present invention;

FIG. 5 is an enlarged view of a portion of the schematic view of FIG. 4;

fig. 6 is an enlarged view of a portion of the schematic diagram of fig. 3.

In the figure, 1-car body, 2-car leg, 3-wheel, 4-first motor, 5-third motor, 6-second motor, 7-momentum wheel, 8-rolling wheel, 9-gear, 10-worm wheel, 11-worm, 12-rack, 13-fourth motor, 14-rail, 15-block and 16-mounting rack.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

At present, mobile robots are widely applied to the fields of military affairs, industry and the like, but when the mobile robots meet the road conditions of vertical obstacles, ditches and the like, the mobile robots can only avoid the road conditions by detours, and further additional time and distance are consumed. The invention designs a wheel-type mobile robot capable of jumping, and can realize a certain carrying function. Through jumping, the robot can easily cross vertical obstacles, walls, trenches and the like, and the trafficability of the mobile robot is greatly improved.

Referring to fig. 1-6, the present invention provides a technical solution:

a gear rack structure bouncing mobile robot comprises a vehicle body 1 and at least one vehicle leg 2; the bicycle is characterized in that the bicycle legs 2 are provided with racks 3 along the length direction of the bicycle legs 2, the bicycle legs 2 are provided with racks 12 along the length direction of the bicycle legs, the bicycle body 1 is provided with a gear 9 meshed with the racks 12, and the gear 9 is provided with a first driving device for driving the gear to rotate; the vehicle legs 2 are provided with turbines 10, the turbines 10 are provided with worms 11 for driving the turbines 10 to rotate, the vehicle body 1 is provided with a second driving device for driving the worms 11 to rotate, two sides of the vehicle legs 2 are provided with rails 14, the rails 14 are provided with rollers 8 matched with the rails 14, and the rollers 8 are fixed on the turbines 10 through mounting frames 16; the turbine 10 is rotatably sleeved on an output shaft of the first driving device (the first motor 4); the legs 2 can slide up and down relative to the vehicle body 1 by the cooperation of the rollers 8 and the rails 14.

The first and second drive means are a first motor 4 and a second motor 6, respectively. The first motor 4 is arranged on the vehicle body 1, and the first motor 4 is connected with the gear 9; and a stop block 15 for limiting the vehicle body 1 to be separated from the vehicle legs 2 is arranged at the upper ends of the vehicle legs 2. The worm 11 is rotatable to be set up on the automobile body 1, the second motor 6 is fixed on the automobile body 1, the track 14 of car leg 2 every side all disposes two gyro wheel 8, four gyro wheel 8 is fixed on mounting bracket 16.

When the front of the mobile robot meets a vertical obstacle or a trench, the mobile robot needs to jump to pass through, and when the mobile robot needs to jump, the first motor 4 drives the gear 9 to rotate, and the vehicle body 1 rises along the vehicle legs 2 under the action of the rack 12. When the vehicle body 1 rises to the tops of the vehicle legs 2, the vehicle body 1 collides with the vehicle legs 2 to drive the vehicle legs 2 to move upwards together to jump over obstacles. In a falling state, when the wheels 3 just start to contact the ground, the legs 2 keep in an extending state, the legs 2 are retracted due to the impact of the ground, and the rack 12 of the legs 2 and the gear 9 of the vehicle body 1 act to drive the first motor 4 to rotate for power generation so as to recover energy.

In order to realize the function that the mobile robot can jump forwards in a static state, the invention is additionally provided with a worm and gear mechanism. The roller 8 is placed on a worm wheel 10 and a worm 11 is driven by the second motor 6. The worm 11 is driven to rotate by the second motor 6, the worm 11 drives the worm wheel 10 to rotate, and the worm wheel 10 drives the roller wheels 8 positioned on two sides of the car leg 2 to change the angle position, so that the sliding angle between the car leg 2 and the car body 1 is changed, namely the sliding direction of the car leg 2 relative to the car body 1 is changed. If a stationary jump is desired, the legs 2 are tilted forward so that the body 1 has both a forward and an upward velocity during the ascent.

The number of the vehicle legs 2 is four, two of the vehicle legs 2 are arranged on one side of the vehicle body 1, and the other two vehicle legs 2 are arranged on the other side of the vehicle body 1; the number of the wheels 3 is four, and the wheels are respectively rotatably connected with the corresponding vehicle legs 2. In order to keep the mobile robot stable in the jumping and rising stage, the rotating speed of the four second motors 6 is dynamically coordinated and controlled in the rising process, so that the vehicle body of the mobile robot is always kept in a stable state.

The wheel 3 is rotatably connected with the leg 2, and the wheel 3 is provided with a fourth driving device for driving the wheel to rotate; the fourth driving device is a fourth motor 13. Under normal conditions, the vehicle legs 2 are contracted, the four wheels 3 are in contact with the ground, and the longitudinal and transverse motions of the mobile robot are realized through the combination of different rotating speeds of the four wheels 3. In order to reduce the weight of the bottom and realize higher jump height, the steering mechanism is not installed in the invention, and the steering of the robot is realized by differential steering of four wheels 3.

The bouncing mobile machine further comprises a momentum wheel 7, the momentum wheel 7 is provided with a third driving device for driving the momentum wheel 7 to rotate, and the third driving device is installed on the vehicle body 1; the third driving device is a third motor 5; the momentum wheel 7 is arranged in the vehicle body 1. Since there is an interference of an external environment such as external wind before landing after take-off, the posture of the mobile robot is changed due to no support of the legs 2, and roll and pitch of the mobile robot may occur in severe cases. The momentum wheel 7 is added in the vehicle body, and the third motor 5 is installed. The vehicle body posture is measured through the built-in IMU, and the rotating speed of the third motor 5 is adjusted through calculation, so that the posture of the mobile robot is adjusted.

The bouncing mobile robot with the gear rack structure further comprises a super capacitor, and the super capacitor is connected with the first motor 4. In the take-off process of the mobile robot, the first motor 4 needs to provide larger energy instantly, and the feedback current of the first motor 4 is very large due to strong impact on the ground when the mobile robot falls to the ground, so that the battery is greatly damaged and has larger potential safety hazard if the battery is used for discharging and charging. Therefore, the invention designs the super capacitor. In the jump-off stage, the super capacitor is charged by the battery, and the super capacitor is used for discharging the first motor 4 after the charging is finished. In the falling stage, the current fed back by the first motor 4 is firstly stored in the super capacitor, and after the mobile robot falls to the ground stably, the battery is charged by the electricity of the super capacitor, so that the efficient utilization of energy is realized.

The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. The utility model provides a but rack and pinion structure spring mobile robot, includes automobile body and at least one car leg, its characterized in that: the vehicle legs are provided with racks along the length direction of the vehicle legs, the vehicle body is provided with a gear meshed with the racks, and the gear is provided with a first driving device for driving the gear to rotate; the trolley is characterized in that the trolley legs are provided with worm gears, the worm gears are provided with worms for driving the worm gears to rotate, the trolley body is provided with a second driving device for driving the worms to rotate, rails are arranged on two sides of each trolley leg, idler wheels matched with the rails are arranged on the rails, and the idler wheels are fixed on the worm gears through mounting racks; the gear rack structure bouncing mobile robot further comprises a momentum wheel, the momentum wheel is provided with a third driving device for driving the momentum wheel to rotate, and the third driving device is installed on the vehicle body.

2. The rack and pinion structural bounceable mobile robot of claim 1, wherein: the bouncing mobile robot with the gear rack structure further comprises at least one wheel, the wheel is rotatably connected with the vehicle leg, and the wheel is provided with a fourth driving device for driving the wheel to rotate.

3. The rack and pinion structural bounceable mobile robot of claim 1, wherein: the momentum wheel is arranged in the vehicle body.

4. The rack and pinion structural bounceable mobile robot of claim 1, wherein: the bouncing mobile robot with the gear rack structure further comprises a super capacitor, and the super capacitor is connected with the first motor.

5. The rack and pinion structural bounceable mobile robot of claim 1, wherein: the first driving device, the second driving device, the third driving device and the fourth driving device are respectively a first motor, a second motor, a third motor and a fourth motor.

6. The rack and pinion structural bounceable mobile robot of claim 5, wherein: the number of the vehicle legs is four, two of the vehicle legs are arranged on one side of the vehicle body, and the other two vehicle legs are arranged on the other side of the vehicle body.

7. The rack and pinion structural bounceable mobile robot of claim 2, wherein: the number of the wheels is four, and the wheels are respectively rotatably connected with the corresponding vehicle legs.

8. The rack and pinion structural bounceable mobile robot of claim 6, wherein: the first motor is arranged on the vehicle body and is connected with the gear; and the upper ends of the vehicle legs are provided with stop blocks for limiting the vehicle body to be separated from the vehicle legs.

9. The rack and pinion structural bounceable mobile robot of claim 8, wherein: the worm is rotatable to be set up on the automobile body, the second motor is fixed on the automobile body, the track of car leg every side all disposes two the gyro wheel, four the gyro wheel is fixed on the mounting bracket.